CN112380729A - Airship return track design method based on parachuting deceleration - Google Patents

Airship return track design method based on parachuting deceleration Download PDF

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CN112380729A
CN112380729A CN202011378861.5A CN202011378861A CN112380729A CN 112380729 A CN112380729 A CN 112380729A CN 202011378861 A CN202011378861 A CN 202011378861A CN 112380729 A CN112380729 A CN 112380729A
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airship
parachute
speed
deceleration
parachuting
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CN112380729B (en
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刘敏华
杨勇
王征
曹晓瑞
满益明
张春阳
张月玲
朱如意
冯忠伟
邵干
刘刚
朱红
张建英
陈永强
尤志鹏
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China Academy of Launch Vehicle Technology CALT
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Abstract

A airship return track design method based on parachuting deceleration is characterized in that the airship return track design method in the embodiment of the application is adopted, firstly, an interstellar airship of the United states Boeing company is taken as a research example, and the airship return flight procedure is simplified; secondly, considering two main perturbation factors and a secondary inflation process of the drogue, and establishing an airship returning flight mechanical model in sections; finally, the effectiveness of the airship returning track design method is verified through a design example and mathematical simulation.

Description

Airship return track design method based on parachuting deceleration
Technical Field
The application belongs to the technical field of aerospace, and particularly relates to a spacecraft return track design method based on parachuting deceleration.
Background
After the aerospace plane is retired, the spaceship becomes the most common means for people to enter and exit the space at present due to the characteristics of low development cost, high reliability and the like, and all aerospace countries in the world are added to development and replacement teams of spaceships. Among them, the airship return track design is the key to determine whether an astronaut can land safely, whether the airship can reach a predetermined landing point, and whether the hull can be recovered and reused again.
In China, domestic airships represented by Shenzhou airships have successfully performed more than ten manned space missions; in foreign countries, SpaceX and Boeing companies in the United states independently complete unmanned on-orbit flight test tests of manned spacecraft and interplanetary spacecraft in 2019 respectively. The design of the return trajectory of the airship is critical to determining whether the crew can land safely. Therefore, a spacecraft return track design method based on parachuting deceleration is needed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a spacecraft return track design method based on parachuting deceleration, which can determine the return track of spacecraft track when the spacecraft track is recycled aiming at similar spacecraft return test task models based on parachuting deceleration.
The technical scheme of the invention is as follows:
a spacecraft return track design method based on parachuting deceleration comprises the following steps:
1) determining the quality state of each stage according to the returned flight program of the airship;
2) determining the direction of the off-orbit thrust and calculating the acceleration of the thrust according to the current mass state and the flying stage of the airship;
3) according to the current geocentric distance r, longitude lambda and latitude of the airship
Figure BDA0002807931070000011
Calculating gravitational acceleration based on an earth non-spherical gravitational perturbation potential function;
4) calculating the atmospheric perturbation acceleration of the airship under the track coordinate system in the process of derailment according to the flying speed of the airship and the characteristic parameters of the ship body; the ship body characteristic parameters comprise: airship mass, airship reference area, airship aerodynamic coefficient;
5) obtaining the flying position and speed of the airship in the next step according to the thrust acceleration in the step 2), the gravitational acceleration in the step 3) and the atmospheric perturbation acceleration in the step 4), judging whether the airship enters into the atmosphere reentry section to fly or not according to the geodetic altitude, entering the step 6 if the airship enters into the atmosphere reentry section, and otherwise, repeating the step 5) to update the flying position and speed of the airship until the airship enters into the atmosphere reentry section, and entering the step 6);
6) determining a roll angle sigma (h, v) according to the reentry flight height and speed of the airship, and obtaining an optimization result of a roll angle profile by using a DE algorithm;
7) according to the flying height and flying speed of airship the lift force and drag force can be calculated, and according to the earth centre distance r, longitude lambda and latitude
Figure BDA0002807931070000022
Calculating the component g of the gravity acceleration in the direction of the earth center distance vector and the earth center rotation angular velocity vector in the reentry processrAnd gω；
8) Judging whether parachute opening and parachute state according to flying height of airship, determining parachute inflation state according to flying height and flying speed of airship, and determining parachute tension Fs；
9) According to the current geocentric distance r, longitude lambda and latitude of the airship
Figure BDA0002807931070000023
Track inclination angle theta, course angle psi and ground speed v of airshipr(ii) a According to the optimization result of the roll angle profile of step 6), the component g of step 7)rAnd gωStep 8) tension F of the speed reducing parachutesIntegrating the reentry dynamic model, and updating to obtain the flight state parameters of the airship; the integration step length is not more than 20 ms; the flight state parameters include: current geocentric distance r, longitude lambda and latitude of airship
Figure BDA0002807931070000021
Track inclination angle theta, course angle psi and ground speed v of airshipr；
10) Repeating steps 8) to 9) until the airship completes the landing.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention provides a spacecraft return track design method based on parachute deceleration, aiming at the key that spacecraft return track design determines whether astronauts can land safely, whether the spacecraft can reach a preset landing point and whether a ship body can be recycled and reused, thereby simplifying the spacecraft return flight program based on parachute deceleration;
2) the method comprises the steps of considering the influence of atmospheric perturbation and earth non-spherical gravitational perturbation, establishing an airship off-rail motion model, and providing a model basis for calculating parameters for airship off-rail section track design;
3) considering the influence of the secondary inflation process of the drogue, a spacecraft reentry section motion model is established, and a model basis for calculating parameters is provided for spacecraft reentry section track design;
4) according to the spacecraft return orbit design method, calculation conditions are designed according to the motion model and the interplanetary spacecraft flight test example, the motion model integration is carried out by a fixed step length four-step Runge-Kutta method, and the relative time and absolute time conversion is carried out, so that the effectiveness of the spacecraft return orbit design method is verified, and the accuracy of spacecraft return orbit design is ensured.
Drawings
FIG. 1 illustrates a airship return trajectory design flow diagram according to an embodiment of the application;
a flight sequence diagram according to an embodiment of the present application is shown in fig. 2;
an off-track parameter variation graph according to an embodiment of the present application is shown in fig. 3;
an off-rail fuel consumption variation graph according to an embodiment of the present application is shown in FIG. 4;
FIG. 5 illustrates a reentry position versus velocity profile according to an embodiment of the present application;
FIG. 6 illustrates a re-entry trajectory angle change graph according to an embodiment of the present application.
Detailed Description
In the course of the realization of the present application, the inventors discovered that the spacecraft return orbit design is critical in determining whether an astronaut can land safely, whether the spacecraft can reach a predetermined landing site, and whether the hull can be recovered and reused again. Therefore, a method for designing the return track of the airship based on the parachuting deceleration is needed to ensure that the airship can accurately and safely land at a predetermined landing point and ensure that the airship and crews safely land.
In view of the above problems, the present invention provides a spacecraft return track design method based on parachuting deceleration to determine the safety return track of a spacecraft for different spacecraft return tasks.
By adopting the airship return track design method based on the parachuting deceleration in the embodiment of the application, firstly, the airship return process flight procedure based on the parachuting deceleration is simplified by combining the interplanetary airship example of the Boeing company; then, considering the influence of atmospheric perturbation and earth non-spherical gravity perturbation, establishing an airship off-orbit motion model, considering the influence of a secondary inflation process of a speed-reducing umbrella, and establishing an airship reentry motion model; and finally, designing a spacecraft return track design method according to a spacecraft flight program and a motion model, and verifying the effectiveness of the spacecraft return track design method based on parachuting deceleration by combining with an interstellar spacecraft track reentry return test example.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention relates to a spacecraft return track design method based on parachuting deceleration, which comprises the following steps of:
1) determining the quality state of each stage according to the flying program returned by the airship, wherein the mass of the airship is a constant value if the engine is not started;
2) determining the direction of the off-orbit thrust and calculating the acceleration of the thrust according to the current mass state and the flying stage of the airship;
3) according to the current geocentric distance r, longitude lambda and latitude of the airship
Figure BDA0002807931070000041
Calculating gravitational acceleration based on an earth non-spherical gravitational perturbation potential function;
4) calculating the atmospheric perturbation acceleration of the airship under the track coordinate system in the process of derailment according to the flying speed of the airship and the characteristic parameters of the ship body; the ship body characteristic parameters comprise: airship mass, airship reference area, airship aerodynamic coefficient;
5) obtaining the flying position and speed of the airship in the next step according to the thrust acceleration in the step 2), the gravitational acceleration in the step 3) and the atmospheric perturbation acceleration in the step 4), separating a service cabin according to relative time, judging whether the airship enters the atmosphere reentry section to fly according to the ground altitude, if the airship enters the atmosphere reentry section, entering the step 6), and if not, repeating the step 5) to update the flying position and speed of the airship until the airship enters the atmosphere reentry section, and entering the step 6);
6) determining a roll angle sigma (h, v) according to the reentry flight height and speed of the airship, and obtaining an optimization result of a roll angle profile by using a DE algorithm (namely a differential evolution algorithm);
7) according to the flying height and flying speed of airship the lift force and drag force can be calculated, and according to the earth centre distance r, longitude lambda and latitude
Figure BDA0002807931070000042
Calculating the component g of the gravity acceleration in the direction of the earth center distance vector and the earth center rotation angular velocity vector in the reentry processrAnd gω；
8) Judging whether parachute opening and parachute state according to flying height of airship, determining parachute inflation state according to flying height and flying speed of airship, and determining parachute tension Fs；
9) According to the current geocentric distance r, longitude lambda and latitude of the airship
Figure BDA0002807931070000043
Track inclination angle theta, course angle psi and ground speed v of airshipr(ii) a According to the optimization result of the roll angle profile of step 6), the component g of step 7)rAnd gωStep 8) tension F of the speed reducing parachutesIntegrating the reentry dynamic model, and updating to obtain the flight state parameters of the airship; the integration step length between two adjacent steps is not more than 20 ms; the flight state parameters include: current geocentric distance r, longitude lambda and latitude of airship
Figure BDA0002807931070000051
Track inclination angle theta, course angle psi and ground speed v of airshipr；
10) And (5) repeating the steps 8) to 9), and returning to the end of the track calculation when the relative altitude is 0 according to the calculation result of the flying altitude until the airship completes the landing.
The initial value m for the required mass of the airship in the step 1)0Minus fuel consumption mpFuel consumption mpThe determination method of (2) is as follows:
Figure BDA0002807931070000052
wherein, IspFor engine specific impulse, Δ V is the speed increment.
The thrust acceleration in the step 2) is expressed as follows in a first orbit coordinate system:
Fc＝[0 -P/m 0]T；
wherein, P is the thrust of the airship rail control engine, and m is the number mass of the airship.
The gravitational acceleration U in the step 3) is specifically as follows:
Figure BDA0002807931070000053
wherein r, lambda,
Figure BDA0002807931070000054
Is the spherical coordinates of the aircraft, r is the aircraft center-to-earth distance, λ is the aircraft longitude,
Figure BDA0002807931070000055
to the aircraft latitude, Cnm、SnmIs the n-order m-order spherical harmonic coefficient, and mu is the gravity constant of the earth.
The atmospheric perturbation acceleration in the step 4) can be obtained according to the atmospheric perturbation force, and the implementation mode is as follows:
Figure BDA0002807931070000056
wherein, FDIs the vector of the high atmospheric resistance borne by the aircraft under the orbital system, FLIs the vector of the high atmospheric resistance borne by the aircraft under the orbital system, FZIs the high-rise atmospheric lateral force vector, C, borne by an aircraft under a track systemDIs a coefficient of resistance, CLIs a coefficient of lift, CZIs in a lateral directionThe force coefficient.
And 5) integrating the off-orbit motion model to obtain the next motion state, wherein the height value range of the re-entering stage is 100-120 km. In the embodiment of the invention, the height condition of entering the reentry stage is h-120 km.
The roll angle profile in the step 6) is obtained according to a numerical optimization result, the optimization variable is the roll angle of each stage, and the optimization indexes are as follows:
Figure BDA0002807931070000061
obtaining an optimization result of the roll angle profile by minimizing J;
wherein λt,
Figure BDA0002807931070000062
ht,vtThe predicted roll angle profile σ (t) obtained by optimization for the longitude, latitude, altitude and ground contact velocity of the landing target point is in the form:
Figure BDA0002807931070000063
step 7) calculating the lift force and the resistance force in the reentry process in the same step 5), and calculating the component g of the gravitational acceleration in the directions of the geocentric distance vector and the geocentric rotation angular velocity vector in the reentry processrAnd gωThe calculation is as follows:
Figure BDA0002807931070000064
step 8) the tension of the speed reducing parachute is specifically as follows:
Figure BDA0002807931070000065
wherein rho is the atmospheric density, C is the drag characteristic of the drogue, KdIs the dynamic load coefficient for opening the umbrella. Speed reducing umbrella stopperThe force characteristic C is calculated according to three stages of parachute opening, and specifically comprises the following steps:
in the first stage, the speed-reducing umbrella is inflated until the canopy is in a bulb shape, and the inflation distance satisfies that S is more than or equal to 0 and less than or equal to S1With K1Denotes the first inflation stroke coefficient, K1The value range of (A) is 0.2-0.4; the treatment is as follows, in linear terms:
C＝K1S
the second stage is that the parachute canopy is in a bulb shape, and the inflation distance of the parachute meets S1<S≤S1+S2The canopy resistance characteristic is a certain value, as follows:
C＝Csk
wherein S is1The value range of (1) is 70-100 m; s2The value range of (1) is 25-35 m; cskThe value range of (1) is 20-28;
the third stage is that after the reducing parachute is released from the closing in, the inflating distance of the reducing parachute meets S1+S2<S≤S1+S2+S3Canopy resistance is characterized by a quadratic function, as follows:
C＝Csk+β3(S-S1-S2)2
wherein S is3The value range of (1) is 65-80 m; beta is a3Is the second inflation stroke coefficient, beta3The value range of (A) is 0.05-0.07; s3For the second inflation stroke of the speed-reducing parachute, with SmIndicating the filling stroke of the drogue, beta3And S3The calculation is as follows:
Figure BDA0002807931070000071
and 9) superposing to obtain the right term of the reentry dynamic model, and obtaining the next flight state parameter by numerical integration. And 10) determining whether the airship is grounded by using the flying height calculation result, and returning to the track calculation end when the airship is grounded.
Examples
As shown in fig. 1, the airship return track design method based on parachuting deceleration of the embodiment specifically includes the following steps:
(1) considering non-spherical gravitational perturbation, atmospheric perturbation and engine thrust action to establish an off-orbit motion model, and calculating the off-orbit flight state parameters of the aircraft according to the flight program shown in figure 1
The thrust acceleration of the airship in the process of off-orbit braking is expressed as F under a first orbit coordinate systemc＝[0 -P/m 0]T. The airship has constant mass when the off-orbit engine is not started, and the initial value m is required for the mass of the airship when the engine is started0Minus fuel consumption mpThe method is as follows:
Figure BDA0002807931070000072
wherein, IspFor engine specific impulse, Δ V is the speed increment.
The acceleration of the non-spherical gravity of the earth is obtained by calculation according to the perturbation potential function of the non-spherical gravity of the earth, and the realization method is as follows:
Figure BDA0002807931070000073
wherein r, lambda,
Figure BDA0002807931070000081
Is the spherical coordinates of the aircraft, r is the aircraft center-to-earth distance, λ is the aircraft longitude,
Figure BDA0002807931070000082
to the aircraft latitude, Cnm、SnmIs the n-order m-order spherical harmonic coefficient, and mu is the gravity constant of the earth.
The atmospheric perturbation acceleration in the process of airship derailing can be obtained according to the atmospheric perturbation force, and the realization method is as follows:
Figure BDA0002807931070000083
wherein, FDIs the vector of the high atmospheric resistance borne by the aircraft under the orbital system, FLIs the vector of the high atmospheric resistance borne by the aircraft under the orbital system, FZIs the high-rise atmospheric lateral force vector, C, borne by an aircraft under a track systemDIs a coefficient of resistance, CLIs a coefficient of lift, CZThe lateral force coefficient.
After the airship control acceleration, the atmospheric perturbation acceleration and the non-spherical gravitational acceleration are obtained according to the calculation, the integrated off-orbit motion model can obtain the next off-orbit motion state, and the model is as follows:
Figure BDA0002807931070000084
wherein V is the inertia speed vector of the airship, F is the resultant external force vector except the control force, FcAnd m is the thrust of the engine, the current mass of the airship and r is the ground center distance vector of the aircraft.
(2) When the flying height is lower than 120km, the airship enters a reentry flying stage, a reentry motion model is established according to the flying procedure shown in figure 1 by considering the influence of the secondary inflation of the drogue, the roll angle profile is predicted, and reentry flying parameters are obtained through numerical integration.
The method comprises the following steps of segmenting a roll angle section by combining flight characteristics before and after parachute opening, carrying out numerical optimization on the roll angle section by utilizing a DE algorithm according to the landing state requirement of a target state, wherein an optimization variable is the roll angle size of each stage, and optimization indexes are as follows:
Figure BDA0002807931070000085
wherein λt,
Figure BDA0002807931070000086
ht,vtFor the longitude and latitude height and the grounding speed of a landing target point, the predicted roll angle profile obtained by optimization is as follows:
Figure BDA0002807931070000087
the calculation of lift and resistance terms in the reentry process of the airship is the same as the calculation model of the same-off-orbit atmospheric perturbation force, and the component g of the gravitational acceleration in the direction of the geocentric distance vector and the geocentric rotation angular velocity vector in the reentry processrAnd gωThe calculation is as follows:
Figure BDA0002807931070000091
judging whether to open the parachute according to whether the airship reaches the height of 2.4km or not, wherein the parachute rope tension model is as follows:
Figure BDA0002807931070000092
wherein C is the drag characteristic of the drogue and KdIs the dynamic load coefficient for opening the umbrella. The calculation of the drag characteristic C of the drogue can be calculated according to three stages of parachute opening, and specifically comprises the following steps:
in the first stage, the speed-reducing umbrella is inflated until the canopy is in a bulb shape, and the inflation distance satisfies that S is more than or equal to 0 and less than or equal to S1With K1Represents the first inflation stroke coefficient, treated linearly as follows:
C＝K1S
the second stage is that the parachute canopy is in a bulb shape, and the inflation distance of the parachute meets S1<S≤S1+S2The canopy resistance characteristic is a certain value, as follows:
C＝Csk
the third stage is that after the reducing parachute is released from the closing in, the inflating distance of the reducing parachute meets S1+S2<S≤S1+S2+S3Canopy resistance is characterized by a quadratic function, as follows:
C＝Csk+β3(S-S1-S2)2
wherein, beta3Is the second inflation stroke coefficient, S3For the second inflation stroke of the speed-reducing parachute, with SmIndicating the filling stroke of the drogue, beta3And S3The calculation is as follows:
Figure BDA0002807931070000093
calculating according to the content of the aerodynamic force item, the gravitational force item and the parachute tension item to obtain the right item of the reentry kinetic model, obtaining the next flight state parameter by numerical integration, and obtaining the reentry motion model as follows:
Figure BDA0002807931070000101
Figure BDA0002807931070000102
Figure BDA0002807931070000103
Figure BDA0002807931070000109
Figure BDA0002807931070000106
Figure BDA0002807931070000107
wherein the ratio of r, lambda,
Figure BDA0002807931070000108
is the distance between the earth center and the longitude and latitude v of the earth centerrThe earth center distance change rate is shown as theta, psi, the track inclination angle and the track deflection angle, and the sigma is the roll angle.
And determining whether the airship is grounded or not by judging the calculation result of the flying height of the airship, and returning to the track calculation to finish the track calculation if the airship is grounded with the relative height of 0.
(3) The quality status of each phase is determined according to the flight procedure as shown in figure 1, the return trajectory of the airship is determined using the interplanetary airship instance parameters and the design method is validated.
Specifically, in spacecraft return orbit simulation calculation, the method specifically comprises the following steps:
determining initial conditions according to the analysis result of the first flight test of the Boeing interplanetary airship, wherein the initial conditions comprise the initial quality of a key node, six initial tracks, the starting time, the time of separating a service cabin, the parachute opening height, target point parameters and the grounding speed;
and performing return track simulation calculation according to the movement model of each stage of the airship and relevant parameters of the airship, considering the shift point parameters of the departure section and the reentry section according to the geodetic longitude, the geodetic latitude, the geodetic altitude, the ground speed, the track inclination angle and the course angle, and considering the target point constraint according to the longitude and the latitude of the ground point and the ground speed.
The airship return track design result based on the parachuting deceleration comprises six tracks, a flight track angle, a course angle, a ground speed, a geodetic longitude, a geodetic latitude, a geodetic altitude, a speed increment, engine consumption and airship quality parameters under a J2000.0 coordinate system.
For example, in the atmospheric perturbation calculation, the dynamic pressure of the airship is calculated through the flying speed and the flying height, and then three perturbation forces of atmospheric resistance, lift force and lateral force can be obtained according to the windward side and the aerodynamic coefficient in the current state.
A spacecraft return track design flow based on parachuting deceleration is as follows:
firstly, determining a flying program of the airship in the returning process according to the requirement of a test task, and determining parameters of a hull of the airship, the parameters of the test task and target parameters;
secondly, planning conditions such as an off-track braking condition, an off-track and reentry shift condition, a reentry roll angle, an parachute opening height and the like according to the requirement of a test target;
thirdly, the spacecraft return orbit design is realized according to the return orbit calculation model and the parameter condition programming software, and a simulation parameter curve and a return orbit data table are given according to the task requirements.
Wherein figure 2 illustrates an airship return-to-track flight procedure according to an embodiment of the application. FIG. 3 shows the variation curves of the parameters of the height, ground speed, track inclination angle and course angle of the off-track section. Fig. 4 shows the fuel consumption, velocity increase versus time for the off-track section. Fig. 5 shows the time-dependent flight altitude and flight speed curves of the reentry phase. FIG. 6 shows the time-varying course of the re-entry range track inclination angle and course angle.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (7)

1. A spacecraft return track design method based on parachuting deceleration is characterized by comprising the following steps:
1) determining the quality state of each stage according to the returned flight program of the airship;
2) determining the direction of the off-orbit thrust and calculating the acceleration of the thrust according to the current mass state and the flying stage of the airship;
3) according to the current geocentric distance r, longitude lambda and latitude of the airship
Figure FDA0002807931060000011
Calculating gravitational acceleration based on an earth non-spherical gravitational perturbation potential function;
4) calculating the atmospheric perturbation acceleration of the airship under the track coordinate system in the process of derailment according to the flying speed of the airship and the characteristic parameters of the ship body; the ship body characteristic parameters comprise: airship mass, airship reference area, airship aerodynamic coefficient;
5) obtaining the flying position and speed of the airship in the next step according to the thrust acceleration in the step 2), the gravitational acceleration in the step 3) and the atmospheric perturbation acceleration in the step 4), judging whether the airship enters into the atmosphere reentry section to fly or not according to the geodetic altitude, entering the step 6 if the airship enters into the atmosphere reentry section, and otherwise, repeating the step 5) to update the flying position and speed of the airship until the airship enters into the atmosphere reentry section, and entering the step 6);
6) determining a roll angle sigma (h, v) according to the reentry flight height and speed of the airship, and obtaining an optimization result of a roll angle profile by using a DE algorithm;
7) according to the flying height and flying speed of airship the lift force and drag force can be calculated, and according to the earth centre distance r, longitude lambda and latitude
Figure FDA0002807931060000012
Calculating the component g of the gravity acceleration in the direction of the earth center distance vector and the earth center rotation angular velocity vector in the reentry processrAnd gω；
8) Judging whether parachute opening and parachute state according to flying height of airship, determining parachute inflation state according to flying height and flying speed of airship, and determining parachute tension Fs；
9) According to the current geocentric distance r, longitude lambda and latitude of the airship
Figure FDA0002807931060000013
Track inclination angle theta, course angle psi and ground speed v of airshipr(ii) a According to the optimization result of the roll angle profile of step 6), the component g of step 7)rAnd gωStep 8) tension F of the speed reducing parachutesIntegrating the reentry dynamic model, and updating to obtain the flight state parameters of the airship; the integration step length is not more than 20 ms; the flight state parameters include: current geocentric distance r, longitude lambda and latitude of airship
Figure FDA0002807931060000021
Track inclination angle theta, course angle psi and ground speed v of airshipr；
10) Repeating steps 8) to 9) until the airship completes the landing.
2. The method as claimed in claim 1, wherein the airship returning track design based on parachuting deceleration of step 1) requires an initial value m for the mass of the airship0Minus fuel consumption mpFuel consumption mpThe determination method of (2) is as follows:
Figure FDA0002807931060000022
wherein, IspFor engine specific impulse, Δ V is the speed increment.
3. The airship return track design method based on parachuting deceleration as claimed in claim 1, wherein the thrust acceleration of step 2) is expressed as:
Fc＝[0 -P/m 0]T；
wherein, P is the thrust of the airship rail control engine, and m is the number mass of the airship.
4. The airship return track design method based on parachuting deceleration as claimed in claim 1, wherein the gravitational acceleration U of step 3) is specifically:
Figure FDA0002807931060000023
wherein r is the ground center distance of the aircraft, and lambda is the longitude of the aircraft,
Figure FDA0002807931060000024
to the aircraft latitude, Cnm、SnmIs n-th order m timesThe spherical harmonic coefficient mu is the gravitational constant of the earth.
5. The airship returning track design method based on parachuting deceleration as claimed in claim 1, wherein the airship entering the reentry phase height ranges from 100 km to 120 km.
6. The airship return track design method based on parachuting deceleration as claimed in claim 1, wherein the roll angle profile of step 6) is obtained according to a numerical optimization result, the optimization variables are roll angles of each stage, and the optimization indexes are as follows:
Figure FDA0002807931060000025
obtaining an optimization result of the roll angle profile by minimizing J;
wherein λt,
Figure FDA0002807931060000026
ht,vtThe predicted roll angle profile σ (t) obtained by optimization for the longitude, latitude, altitude and ground contact velocity of the landing target point is in the form:
Figure FDA0002807931060000031
7. the airship return track design method based on parachuting deceleration according to any one of claims 2 to 6, wherein the drag of the parachute in the step 8) is specifically:
Figure FDA0002807931060000032
wherein rho is the atmospheric density, C is the drag characteristic of the drogue, KdCoefficient of dynamic load for opening umbrella(ii) a The drag characteristic C of the drogue is calculated according to three stages of parachute opening, and specifically comprises the following steps:
in the first stage, the speed-reducing umbrella is inflated until the canopy is in a bulb shape, and the inflation distance satisfies that S is more than or equal to 0 and less than or equal to S1With K1Denotes the first inflation stroke coefficient, K1The value range of (A) is 0.2-0.4; the treatment is as follows, in linear terms:
C＝K1S
the second stage is that the parachute canopy is in a bulb shape, and the inflation distance of the parachute meets S1<S≤S1+S2The canopy resistance characteristic is a certain value, as follows:
C＝Csk
wherein S is1The value range of (1) is 70-100 m; s2The value range of (1) is 25-35 m; cskThe value range of (1) is 20-28;
the third stage is that after the reducing parachute is released from the closing in, the inflating distance of the reducing parachute meets S1+S2<S≤S1+S2+S3Canopy resistance is characterized by a quadratic function, as follows:
C＝Csk+β3(S-S1-S2)2
wherein S is3The value range of (1) is 65-80 m; beta is a3Is the second inflation stroke coefficient, beta3The value range of (A) is 0.05-0.07; s3For the second inflation stroke of the speed-reducing parachute, with SmIndicating the filling stroke of the drogue, beta3And S3The calculation is as follows:
Figure FDA0002807931060000033
S3＝Sm-S1。
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